5 accepted papers
Collision detection is a fundamental problem in robotics, but handling collisions between non-convex objects remains challenging. A common approach for representing non-convex geometry is a signed distance function (SDF). Voxel-based SDF (VoxelSDF) enables fast distance queries but suffers from disc…
This paper presents a framework designed to tackle a range of planning problems arise in manipulation, which typically involve complex geometric-physical reasoning related to contact and dynamic constraints. We introduce the Contact Factor Graph (CFG) to graphically model these diverse factors, enab
Shape abstraction, simplifying shape representation into a set of primitives, is a fundamental topic in computer vision. The choice of primitives shapes the structure of world understanding, yet achieving both high abstraction accuracy and versatility remains challenging. In this paper, we introduce…
Collision detection is a fundamental problem across various fields such as robotics, physical simulation, and computer graphics. While numerous studies have provided efficient solutions, based on the well-known Gilbert, Johnson, and Keerthi (GJK) algorithm and Expanding Polytope Algorithm (EPA), exi…